version: 66.02
glider: 102
mission: 4
dive: 251
start: 1 8 108 5 27 23
data:
$ID,102
$MISSION,4
$DIVE,251
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,558.0575
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-81003.438
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,38
$PITCH_MAX,3332
$C_PITCH,2495
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3761
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,603
$VBD_MAX,3897
$C_VBD,2878
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-8.5065012
$PRESSURE_SLOPE,0.00011626
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043130573
$SEABIRD_T_H,0.00062837353
$SEABIRD_T_I,2.3180288e-05
$SEABIRD_T_J,2.4140363e-06
$SEABIRD_C_G,-10.364641
$SEABIRD_C_H,1.1788509
$SEABIRD_C_I,-0.0011747589
$SEABIRD_C_J,0.00021488362
$GPS1,051725,6350.296,-1318.672,36,1.8,54,-12.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-49.2
$GPS2,052629,6350.364,-1318.864,11,3.5,30,-12.5
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.146,0.149
$KALMAN_X,340587.9,-847.2,-3771.7,-590737.1,16360.0
$KALMAN_Y,-40249.2,777.2,2568.5,291015.9,-8961.9
$MHEAD_RNG_PITCHd_Wd,328.2,20005,-10.7,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.95,-146.6,0.0,0.0,0,105,0.00,0.00,-81.57,0.000,2,0.000,0.000,29,1877,2220
$GC,108,-0.95,-146.6,3.1,-0.6,4,212,11.90,2.60,-82.82,0.000,4,0.137,0.059,2287,3288,3476
$GC,336,-0.95,-146.6,12.9,-5.2,14,340,0.00,2.47,0.00,0.000,6,0.000,0.043,2287,1910,3475
$GC,651,-0.95,-146.6,36.4,-4.8,29,656,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3300,3475
$GC,707,-0.95,-146.6,39.6,-5.7,31,713,0.00,2.53,0.00,0.000,6,0.000,0.043,2287,1898,3475
$GC,1022,-0.95,-146.6,59.0,-6.4,47,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3476
$GC,1331,-0.95,-146.6,82.1,-7.1,62,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3475
$GC,1641,-0.95,-146.6,106.2,-8.3,77,1645,0.00,2.53,0.00,0.000,4,0.000,0.047,2287,3297,3475
$GC,1740,-0.95,-146.6,112.5,-7.0,81,1747,0.00,2.50,0.00,0.000,6,0.000,0.041,2287,1897,3476
$GC,2057,-0.95,-146.6,136.9,-7.9,97,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3475
$GC,2365,-0.95,-146.6,158.5,-6.6,112,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3475
$GC,2674,-0.95,-146.6,180.6,-6.9,127,2679,0.00,2.53,0.00,0.000,4,0.000,0.047,2287,3296,3475
$GC,2752,-0.95,-146.6,186.3,-7.2,130,2758,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1901,3475
$GC,3068,-0.95,-146.6,208.8,-7.0,146,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3475
$GC,3378,-0.95,-146.6,232.3,-7.9,161,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3475
$GC,3686,-0.95,-146.6,255.2,-7.3,176,3690,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3298,3475
$GC,3748,-0.95,-146.6,259.7,-7.1,179,3752,0.00,2.50,0.00,0.000,6,0.000,0.043,2287,1901,3475
$GC,4074,-0.95,-146.6,282.9,-7.6,195,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3475
$GC,4383,-0.95,-146.6,305.0,-7.0,210,4387,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3299,3475
$GC,4432,-0.95,-146.6,308.6,-6.8,212,4436,0.00,2.53,0.00,0.000,6,0.000,0.043,2287,1908,3475
$GC,4753,-0.95,-146.6,330.1,-7.1,228,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3475
$GC,5062,-0.95,-146.6,351.5,-6.8,243,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3475
$GC,5372,-0.95,-146.6,372.3,-6.9,258,5376,0.00,2.53,0.00,0.000,4,0.000,0.051,2287,3297,3475
$GC,5444,-0.95,-146.6,377.6,-7.1,261,5448,0.00,2.50,0.00,0.000,6,0.000,0.044,2287,1899,3475
$GC,5760,-0.95,-146.6,401.4,-7.8,276,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3475
$GC,6069,-0.95,-146.6,424.8,-7.2,291,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3475
$GC,6378,-0.95,-146.6,445.5,-6.6,306,6379,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1896,3474
$GC,6687,-0.95,-146.6,465.5,-6.7,321,6691,0.00,2.53,0.00,0.000,4,0.000,0.050,2287,3295,3474
$GC,6765,-0.95,-146.6,471.0,-7.3,324,6771,0.00,2.50,0.00,0.000,6,0.000,0.044,2287,1899,3474
$GC,7079,-0.95,-146.6,491.8,-6.4,340,7081,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3474
$GC,7389,-0.95,-146.6,511.1,-5.8,355,7390,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3474
$GC,7698,-0.95,-146.6,530.1,-6.5,370,7703,0.00,2.50,0.00,0.000,4,0.000,0.051,2287,3295,3474
$GC,7770,-0.95,-146.6,534.9,-6.8,373,7774,0.00,2.50,0.00,0.000,6,0.000,0.045,2287,1900,3474
$GC,8091,-0.95,-146.6,556.1,-6.6,389,8095,0.00,2.55,0.00,0.000,4,0.000,0.053,2287,3297,3474
$GC,8168,-0.95,-146.6,561.8,-7.5,392,8174,0.00,2.53,0.00,0.000,6,0.000,0.046,2287,1894,3474
$GC,8484,-0.95,-146.6,581.1,-5.5,408,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3474
$GC,8793,-0.95,-146.6,596.9,-5.5,423,8794,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3474
$GC,9102,-0.95,-146.6,619.2,-7.9,438,9104,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3474
$GC,9411,-0.95,-146.6,644.6,-8.1,453,9416,0.00,2.58,0.00,0.000,4,0.000,0.057,2287,3294,3474
$GC,9489,-0.95,-146.6,650.7,-7.2,456,9495,0.00,2.53,0.00,0.000,6,0.000,0.049,2286,1902,3473
$GC,9805,-0.95,-146.6,671.6,-5.9,472,9806,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3473
$GC,10114,-0.95,-146.6,686.5,-4.6,487,10115,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1903,3473
$GC,10423,-0.95,-146.6,701.4,-5.2,502,10424,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3473
$GC,10732,-0.95,-146.6,719.5,-6.2,517,10733,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3473
$GC,11041,-0.95,-146.6,739.0,-6.5,532,11046,0.00,2.55,0.00,0.000,4,0.000,0.059,2287,3293,3473
$GC,11119,-0.95,-146.6,744.5,-7.3,535,11126,0.00,2.55,0.00,0.000,6,0.000,0.052,2287,1895,3472
$GC,11435,-0.95,-146.6,765.0,-6.6,551,11436,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1895,3472
$GC,11744,-0.95,-146.6,784.0,-5.7,566,11745,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1895,3471
$GC,12054,-0.95,-146.6,803.6,-6.8,581,12055,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1895,3470
$GC,12363,-0.95,-146.6,823.0,-5.9,596,12367,0.00,2.65,0.00,0.000,4,0.000,0.078,2287,490,3470
$GC,12424,-0.95,-146.6,825.7,-1.6,599,12429,0.00,2.50,0.00,0.000,6,0.000,0.053,2287,1892,3470
$STATE,12749,end dive,NO_VERTICAL_VELOCITY
$STATE,12749,begin apogee
$GC,12755,-0.36,0.0,825.8,0.0,615,12883,0.62,0.00,124.93,1.376,6,0.080,0.000,2421,2101,2878
$STATE,12884,end apogee,CONTROL_FINISHED_OK
$STATE,12884,begin climb
$GC,12886,0.95,146.6,825.4,0.0,621,13018,1.27,2.70,124.38,1.319,4,0.058,0.068,2701,3502,2280
$GC,13109,0.95,146.6,818.1,6.5,632,13114,0.00,2.58,0.00,0.000,6,0.000,0.054,2701,2103,2279
$GC,13431,0.98,171.4,800.0,5.3,648,13460,0.00,2.83,21.83,1.328,4,0.000,0.076,2701,683,2179
$GC,13505,0.98,171.4,795.3,6.6,651,13510,0.00,2.58,0.00,0.000,6,0.000,0.052,2701,2096,2179
$GC,13826,0.98,171.4,775.6,6.5,667,13827,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2096,2177
$GC,14135,0.98,171.4,755.1,6.4,682,14136,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2097,2178
$GC,14445,1.01,198.6,737.8,5.2,697,14471,0.00,0.00,23.90,1.332,6,0.000,0.000,2701,2097,2068
$GC,14774,1.01,198.6,718.9,6.4,713,14778,0.00,2.60,0.00,0.000,4,0.000,0.062,2701,3505,2067
$GC,14828,1.01,198.6,714.8,7.4,715,14835,0.00,2.58,0.00,0.000,6,0.000,0.052,2701,2098,2068
$GC,15144,1.01,198.6,691.6,7.5,731,15145,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2098,2067
$GC,15453,1.01,198.6,669.0,7.0,746,15454,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2098,2067
$GC,15763,1.01,198.6,649.5,6.2,761,15764,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2098,2067
$GC,16072,1.01,198.6,629.4,6.4,776,16073,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2098,2066
$GC,16381,1.01,198.6,609.9,6.5,791,16385,0.00,2.60,0.00,0.000,4,0.000,0.058,2701,3504,2066
$GC,16442,1.01,198.6,605.1,8.8,794,16447,0.00,2.53,0.00,0.000,6,0.000,0.048,2701,2098,2066
$GC,16768,1.01,198.6,580.3,7.6,810,16769,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2098,2066
$GC,17077,1.01,198.6,557.3,7.6,825,17078,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2098,2066
$GC,17386,1.01,198.6,535.1,6.7,840,17388,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2098,2066
$GC,17695,1.01,198.6,516.1,6.3,855,17697,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2098,2066
$GC,18005,1.01,198.6,494.5,7.4,870,18006,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2098,2066
$GC,18315,1.03,213.1,474.6,5.6,885,18334,0.00,0.00,12.90,1.166,6,0.000,0.000,2701,2098,2009
$GC,18643,1.04,224.6,457.0,5.7,901,18656,0.00,0.00,10.80,1.142,6,0.000,0.000,2701,2098,1962
$GC,18952,1.04,224.6,434.9,8.0,916,18953,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2098,1962
$GC,19262,1.04,224.6,410.8,8.0,931,19263,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2098,1962
$GC,19571,1.04,224.6,386.1,8.1,946,19572,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2098,1963
$GC,19880,1.04,224.6,362.3,7.5,961,19884,0.00,2.60,0.00,0.000,4,0.000,0.065,2701,690,1963
$GC,19941,1.04,224.6,357.3,7.6,964,19946,0.00,2.53,0.00,0.000,6,0.000,0.041,2701,2117,1963
$GC,20268,1.04,224.6,334.5,6.6,980,20269,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2121,1963
$GC,20577,1.04,224.6,313.6,6.6,995,20578,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2122,1964
$GC,20886,1.04,224.6,292.7,6.7,1010,20887,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2122,1964
$GC,21195,1.04,224.6,268.3,8.8,1025,21196,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2122,1964
$GC,21504,1.04,224.6,243.3,8.0,1040,21506,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2121,1965
$GC,21814,1.04,224.6,220.8,6.4,1055,21818,0.00,2.62,0.00,0.000,4,0.000,0.060,2701,690,1965
$GC,21897,1.04,224.6,215.7,6.2,1059,21902,0.00,2.50,0.00,0.000,6,0.000,0.039,2701,2109,1965
$GC,22223,1.04,224.6,198.0,6.3,1075,22224,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2114,1965
$GC,22533,1.04,224.6,180.7,6.6,1090,22534,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2114,1965
$GC,22842,1.10,274.6,163.9,4.5,1105,22885,0.15,0.00,40.88,0.924,6,0.042,0.000,2756,2113,1758
$GC,23191,1.10,274.6,134.3,9.2,1122,23193,0.10,0.00,0.00,0.000,6,0.087,0.000,2736,2113,1758
$GC,23502,1.10,274.6,107.0,7.5,1137,23507,0.00,2.62,0.00,0.000,4,0.000,0.058,2735,691,1758
$GC,23557,1.10,274.6,103.2,6.3,1139,23564,0.00,2.53,0.00,0.000,6,0.000,0.039,2735,2105,1758
$GC,23873,1.10,274.6,75.9,8.8,1155,23875,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2107,1757
$GC,24182,1.10,274.6,48.7,8.5,1170,24184,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2107,1758
$GC,24492,1.10,274.6,25.0,9.1,1185,24493,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2107,1758
$GC,24801,1.10,274.6,2.1,6.5,1200,24805,0.00,2.53,0.00,0.000,4,0.000,0.053,2735,3494,1758
$STATE,24865,end climb,SURFACE_DEPTH_REACHED
$STATE,24865,begin surface coast
$FINISH,2.1,1.027158
$STATE,24961,end surface coast,CONTROL_FINISHED_OK
$STATE,24961,begin surface
$SM_CCo,24964,153.10,0.768,3,0,602,558.06
$SM_GC,2.76,11.68,0.00,0.00,0.028,0.000,0.000,34,1893,603,-11.25,-0.20,558.06
$IRIDIUM_FIX,6317.84,-1308.04,070108,202040
$TT8_MAMPS,0.026078
$HUMID,2010
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,18.80
$XPDR_PINGS,1
$24V_AH,23.2,54.213
$10V_AH,10.1,26.542
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,25.725,107.950,359.600,153.100,0.000,38.714,34.954,326.774,7.250,0.000,0.000,34.504,2084.121,19951.031,743.067,2398.391,671.822,33.363,1887.134,0.000,2346.748,0.000,46.186
$DEVICE_MAMPS,137.293,78.234,1375.998,767.767,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,882.072,817.761,684.078,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60020,1207
$CFSIZE,260165632,242708480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,3,0
$GPS,080108,123025,6356.330,-1319.313,38,2.0,38,-12.6